Power actuator



Oct. 9, 1945. E. D. LILJA POWER ACTUATOR Filed Jan. 13, 1943 2 Sheets-Sheet l f Ed lNvENboRL l BY gdr Ja A ,4t t Cum. W ATTORNEY Oct. 9, 1945. E. D. LILJA 2,386,402

- POWER AcTUAToR Filed Jan. 13, 194s 2 sheets-sheet 2 ani..

Patented Oct. 9, 1945 POWER Ac'rUA'roR Edgar D. Lilia, Rockford, Ill., assigner to Barber- Oolman Company, Rockford, Ill., a corporation of Illinois Application January 13, 1943, Serial No. 472,265

(ci. 'J4-ass) 9 Claims.

This invention relates to a. powerrdriven actuator or servo for variably positioning a driven element to cause it to follow accurately the positional changes of a controlling element. More particularly, the invention relates to actuators of the type in which a frictionally driven flywheel is utilized to prevent hunting.

In prior actuators of this type-"the flywheel is connected frictionally to one element of a gear train directly driven by a reversible electric motor, the direction and extent of operation of which is controlled by switches responsive to changes in the position of the controlling element and also to the movements of the driven element thereby producingthe follow-up action. With such systems, I have found that it is impossible to position the driven element with the accuracy required ior many applications. This is because the motor must develop enough torque to accelerate the flywheel, the load and the mass of the rotating parts, a large part of which is due to the rotor of the motor. Increasing the size of the motor to compensate for its own inertia further increases the rotor inertia, which must be compensated for by an increase in the flywheel inertia, and this in turn increases the torque de.

mand on the motor. As a result, the size, weight, and cost of motor and iiywheel become excessive and accurate direct control of the motor by sensitive contacts is rendered impractical. Moreover, maintenance-of the contacts becomes a serious problem.

The primary object of the present invention is to provide a friction flywheel type of power actuator adapted to position a driven element with much greater accuracy and stability than has Other objects and advantages of the invention will become apparent from the following detailed description taken in connection with the accompanying drawings in which Figure 1 is a schematic view of the improved power actuator and its control. A

Fig. 2 is a fragmentary perspective view of one of the friction clutches.

Fig. 3 is a perspective view of one of the clutch elements.

The power actuator or servo shown in the drawings by way of illustration operates to carry a .load (not shown) connected to a driven element or shaft 5 and to cause the latter to follow prebeen possible heretofore. This object is attained by providing for the delivery of energy to the driving train intermittently without subjecting the train to the -inertia of 'the power source such as a motor rotor.

A more detailedv object is to provide a friction flywheel servo in which energy is applied to the driving train selectively through the medium of low inertia power transmitting devices such as friction clutches. v

Another object is to provide an electrical actuatorof the character described in which the engagement of the clutches is controlled magnetically with a resultant substantial decrease in the burden on the controlling switches. '1.

A further object is to eiect an additionalreduction in the inertia imposed on the driving train through the use of friction clutches of special construction.

cisely the movements of a controlling .element which may, for example, be the rotor shaft 6 of a so-called Selsyn receiver 1. The shaft 5 carries a gear 4 meshing with the terminal gear 3 oi a speed reduction train 8. The high speed member of this train is on a shaft 9 coupled to a flywheel 2 through a friction connection which acts to prevent hunting in a manner to be described later. To provide this connection, a sleeve i0 keyed to the shaft 9 carries the ywheel hub il which is pressed between the iiange i 2 on the sleeve and a collar I3 slidable on the sleeve and urged toward the hub by a compression spring il, the stress in which may be varied by adjusting a nut Il,

In accordance with the .present invention, energy derived from a constantly operating source such as a unidirectional motor I5 is applied to the driving train and ywheel intermittently and in diilerent'directions without imposing the inertia of the vmotor rotor on the system. To this end, the power is transmitted selectively in one direction or the other through friction clutches I8 and I l which are specially constructed so as to minimize4 the inertia of their rotating driven parts. "'In the present instance, the driven elements of the clutches comprise thin disks i8 and I9- preferably of magnetic material covered in this instance with thin rings 20 of' cork or other friction material. 'I'hese disks, which may be slottedradially to minimize warping, have hubs I8 which are fast on the ends of shafts 2| and 22 that carry gears 23 and 24 meshing with a gear onvthe ilywheel shaft 9.

Herein the shafts 2| and 22 are journaled intermediate their ends in sleeves 26 and 2l which carry gears 28 and 29 meshing with each other and driven by the motor I5 through a gear 30 that meshes with the gear 29. The sleeves, which are thus driven constantly in opposite directions, carry the driving elements of the clutches which urge the ring n toward the plate and thus mlntain light mechanical contact at all times between opposite friction faces of the disk Il and the ring and plate.

A The rotating ilange Il, the ring 33, and the plate 36 form part of a magnetic circuit through the disk il which circuit is energized by a sta- ;tionary magnet ls of U-shaped crossfsection having an annular winding disposed between inner and outer poles 4Iand 42 with faces disposed closely adjacent the flange 3land the ring 33.v

'This relation is maintained by Journaling the sleeve 26 in bearings 43 within the magnet which has a flange 44 secured to a suitable frame by driving train. the flywheel 2 constitutes a roming friction device which acts continuously to which the entire clutch structure is supported.

It will be apparent that the flange 3| and the ring 33 constitute extensions of the magnet poles and that the plate I6 constitutes the magnet armature so that the disk I8 will be gripped between these pole extensions and the amature when the magnet winding is energized. As a result, a magnetic circuit of the proper area is provided independently of the mass of the driven clutch element which therefore may be made thin and therefore of very low inertia.

When the magnet of the clutch I6 is energized, the disk i8 will be gripped by its driving elements, and rotary motion in one direction will be imparted to the driving train I. Reverse rotation occurs when the clutch is is energized is eiected by the closure of sensitive contact switches and 46 having a common contact connected to one terminal of a current source 41 and carried by a tongue 48 whichis fast on a .sleeve 49 loose on the control shaft I. The other contacts of the switches are mounted to turn with the driv'en element I and are carried in this instance bythe gear 3. The common terminals of the clutch windings are connected to the other terminal of the current source 41 and the insulated winding terminals are connected to the separate contacts of the switches 45 and 46. To connect the control shaft 6 and the switch tongue 48 so as to permit yielding in either direction following engagement of one pair of switch contacts, an arm 50 on the shaft 8 carries a follower roller 5i urged by a spring 52 against the surface of a heart-shaped cam El.

If, with 'the arrangement above described, the control shaft 6 turns clockwise, the tongue 4B is turned to close the switch 45 before yielding of 'v the connection occurs.' The clutch I1 is thus energized and the disk i8 is gripped frictionally so as to turn with the motor and impart rotary motion to the gear train, the driven element i following up the motion of the control shaft. This continues untillthe switchl 45 has been opened whereupon the clutch isL disengaged. A similar but reverse action takes place in response to closure of the switch 46 which controls the engagement and disengagement of the clutch i6.

By virtue of its friction connection with the overcome any tendency of the partsato oscillate and produce hunting. That is to say, it acts frictionally to resist each energy impulse imparted -ilywheel tends automatically to attain'the average speed of the parts and is very effective in damping out any hunting tendency.

To obtain this damping action, while at the same time causing the driven element to follow closely and precisely the movements of the control element i, the inertia, of the flywheel must be large, preferably nve to ten times greater. as compared to that of the driving gear train and the connected parte. Also, the power capable of being .transmitted through the clutches must be capable of accelerating the load rapidly and overcoming the inertia of lthe system and of the ilywheel. These requirements are achieved in the present instance through the use of the friction clutches, the driven elements of which, it will be observed, are of very small mass particularly bethe platgl. As a result, it has been found that the mass of the flywheel 2 that is required to -produce effective damping may be reduced greatly as compared to prior systems in which the rotor of the motor contributes to the inertia of the system. With the present system. a much smaller motor may-be employed, and the accuracy with which the driven element will follow the controlling element is increased appreciably. Moreover, the current required to energize the clutch windings is very small a; compared to that for starting an idle motor. Accordingly, the control switches 45 and 48 may be made much more sensitive and will respond more quickly to the motions of the controlled and driven elements with a resultant improvement in the accuracy with which the driven element follows the control I element.

The electromagnetic friction clutch shown in Figs. 2 and 3 forms the subject matter of my co| pending divisional application led August 3l, 1945, entitled Electromagnetic friction clutch.

I claim as my invention:

1. An actuator for positioning a driven element in accordance with movements of a control element having, in combination, a driving train coupled to said driven element, a flywheel coupled frictionally to a member of said train, a pair of magnetic friction clutches having magnetic windings and thin driven disks coupled to said train for rotation of the latter in opposite directions according to which of the clutches is engaged, the driving element of each clutch oomprising a rotary armature on one side ofthe driven disk and rotary poles on the opposite side, a source of rotary power driving said driving clutch elements, and switching means responsive to the movements of said control and driven elements and controlling the energization and deenergization of said clutch windings selectively to cause the driven element to follow the move ments of the control element.

2. An actuator for positioning a driven element in accordance with movements of a control elesource of rotary power driving said driving clutch elements, and devices responsive to the movementsr of said control and driven elements and controlling the engagement and disengagement o! said clutches selectively to cause the driven element to follow the movements of the control element.

3. An actuator for positioning a driven element in accordance with movements of a control element having, in combination, a speed reduction gear train driving said driven element, a flywheel coupled i'rictionally with a high speed member of said train and ,operable to dampen oscillations thereof, a pair of friction clutches having driving and driven members, the driven members being geared to said train for rotation of the latter in opposite directions according to which of the clutches is engaged, a source of rotary power driving said driving clutch members and capable of accelerating said ywheel, the driving train,

and the loadthereon at a desired rate, and devices responsive to the movements of said con-trol and driven elements and controlling the engagement and disengagement of said clutches selectively to cause the driven element to follow the movements of the control element.

4. An actuator for positioning a driven element in accordance with the movements of a.' control element having, in combination, a source of rotary power,'a train oi rotary elements for driving said driven element, a flywheel frictionally coupled to one oi' said rotary elements to impose a frictional damping force thereon, said flywheel having a. mass correlated with and many times greater than the inertia of the parts rotatable with said driving train, a pair of friction clutches having driving members driven by said power source and driven members coupled to said rotary elements for rotation in opposite directions, whereby the damping effect of said flywheel is not ail'ected by the inertia of the power source, and means controlling the selective' engagement and disengagement of said clutches to cause said driven element to follow the control element precisely.

5. Mechanism for positioning a driven element inv accordance with the movements of a control element having, in combination, a rotary electric motor, a clutch having a driving member driven by said motor and a rotary driven member of a mass substantially smaller than that of the rotor of said motor and having a driving connection 6. An actuator for positioning a driven element in accordance with the movements ofy a control element having, in combination, a speed reduction gear train driving said driven element, a flywheel, a slip coupling between said flywheel and a high speed membeno said gear train operable during acceleration or deceleration of the gear train to utilize-the inertia of the flywheel` in applying a drag to said member whereby to dampen oscillations of the latter, a pair oi' friction clutches having driving and driven members, the driven members being geared to said train for rotation of the latter in opposite directions according to which of said clutches is active, means providing a source of rotary power for driving said driving clutch members and capable of accelerating said flywheel, said gear train, and the load imposed thereon at a desired rate. and a device responsive to the movements of said control element and said driven element and selectively controlling the engagement oi' said clutches to cause the driven element'to follow the movements oi' the lcontrol element.

7. Mechanism for positioning a driven element in accordance with the movements of a control element having, in combination, a rotary electric motor, a clutch having a driving member driven by said motor and a rotary driven member or a mass substantially smaller than that oi' the rotor of said motor, a speed reducing driving connection between said driven clutch member and said driven element whereby rotary power is transmitted from said rotor to said element when said clutch is energized, a ywheel having a mass substantially greater than and correlated with that oi' said driven clutch element and the parts rotated thereby, coupling means between said flywheel and an element of said driving connection operable to utilize the inertia of the flywheel to resist acceleration and deceleration of said driven element whereby to impose a damping eil'ect thereon, and control means responsive to the movements of said control and driven elements to govern the engagement and disengagement of said clutch and cause the driven element to follow the control element.

8. Mechanism for positioning a driven element in accordance with the movements oi a control element having, in combination, a rotary electric motor, a coupling having a driving member driven by said motor and a rotary driven member of a mass substantially smaller than that of the rotor oi' said motor, said coupling being energizable selectively to transmit a variable torque, a speed reducing driving connection between said driven member and said driven element whereby rotary power is transmitted from said rotor to said element when said coupling is energized, a iiywheel havingl a mass substantially greater than and correlated with that of the parts .rotated by said coupling, coupling means between said flywheel 'and an element of said driving connection operable to vutilize the inertia of the flywheel to resist acceleration and deceleration of said driven element whereby to impose al damping effect thereon,

and control means responsive -to the movements of said con-trol and driven elements to govern the energization of said coupling and cause the of said motor-.electromagnetic means controlling the ener-:ization of said coupling, a speed reducing driving connection between said driven member and said driven element whereby rotary power is transmitted from said rotor-to said element when the coupling is energized, a flywheelhavins a mass substantially greater than and correlated with that ofthe parts rotated by said coupling, eouplinz means between said flywheel and an element oi said drivinsconnection operable rto utilize the inertia of the iiywheel to resist acceleration and deceleration o! said drivenY element whereby to impose a damping effeetithereon'. and control means responsive to the movements of saidvcon-troi anddrivenv elements to governy theenergization of said electromagnetic means and cause the drivenelement to follow the `coritrol element.

EDGAR. D. ma. 

